CN110695965A - Three-dimensional space translational series-parallel hybrid manipulator - Google Patents
Three-dimensional space translational series-parallel hybrid manipulator Download PDFInfo
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- CN110695965A CN110695965A CN201910938432.XA CN201910938432A CN110695965A CN 110695965 A CN110695965 A CN 110695965A CN 201910938432 A CN201910938432 A CN 201910938432A CN 110695965 A CN110695965 A CN 110695965A
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- rotating block
- arm rod
- block component
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- joint
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- 230000007246 mechanism Effects 0.000 claims abstract description 8
- 230000005540 biological transmission Effects 0.000 claims description 6
- 230000007547 defect Effects 0.000 description 3
- 231100000241 scar Toxicity 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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- 230000008569 process Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
Abstract
A three-dimensional space translational series-parallel mechanical arm comprises a fixed platform, a moving platform, two series rod systems and two rotating block components; the two rotating block components are arranged on the fixed platform in parallel, one end of the serial rod system is connected to the rotating block components, and the two serial rod systems form a double parallel arm structure between the fixed platform and the moving platform; the serial rod system comprises a large arm rod piece, a small arm rod piece, a joint connecting block and a joint disc; the large arm rod piece is connected between the rotating block component and the joint connecting block, the small arm rod piece is connected between the joint connecting block and the joint disc, and the joint disc is connected to the motion platform through the central rotating shaft and can rotate freely; the rotating block component, the large arm rod piece and the joint connecting block form a first parallelogram mechanism, and the small arm rod piece and the joint disc of the joint connecting block form a second parallelogram mechanism; two driving motors are arranged in the turning block component, the turning power of the turning block component is provided by a first driving motor, and the swinging power of the large arm lever piece is provided by a second driving motor.
Description
Technical Field
The invention belongs to the technical field of manipulators, and particularly relates to a three-dimensional space translational series-parallel hybrid manipulator.
Background
With the progress of industrial technology, manipulators have become one of the important tools for replacing people to perform high labor intensity. At present, commercial manipulators mainly comprise a Scrar type manipulator and a Delta type manipulator, wherein the Scrar type manipulator belongs to a serial configuration manipulator and has the characteristics of large working space and flexible arrangement, but has the defects of low rigidity and low response speed; the Delta type manipulator belongs to a parallel configuration manipulator, overcomes the defects of the Scar type manipulator, but has the defects of complex installation and use process and small working space.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides the three-dimensional space translational series-parallel hybrid manipulator which adopts a brand-new configuration and can take the advantages of both the Scar type manipulator and the Delta type manipulator into consideration, namely, the manipulator has stronger bearing capacity and larger working space, and simultaneously, the overall quality of the manipulator is effectively reduced.
In order to achieve the purpose, the invention adopts the following technical scheme: a three-dimensional space translational series-parallel mechanical arm comprises a fixed platform, a first series rod system, a second series rod system, a first rotating block component, a second rotating block component and a moving platform; the first rotating block component and the second rotating block component are arranged on the fixed platform in parallel, one end of the first serial rod system is connected to the first rotating block component, and the other end of the first serial rod system is connected to the moving platform; one end of the second serial rod system is connected to the second rotating block component, and the other end of the second serial rod system is connected to the moving platform; the first serial rod system and the second serial rod system form a double parallel arm structure between the fixed platform and the moving platform; the motion platform serves as an end member of the manipulator for securing the actuator element.
The first serial rod system and the second serial rod system have the same structure and respectively comprise a large arm rod piece, a joint connecting block, a joint disc and a small arm rod piece; one end of the large arm rod piece is hinged to the first rotating block component, and the other end of the large arm rod piece is hinged to the joint connecting block; the center of the joint disc is connected to the lower surface of the motion platform through a central rotating shaft, and the joint disc has rotational freedom degree relative to the central rotating shaft; the lower surface of the joint disc is fixedly provided with a switching lug, one end of the small arm rod piece is hinged on the joint connecting block, and the other end of the small arm rod piece is hinged on the switching lug.
The number of the large arm rod pieces is four, the four large arm rod pieces are uniformly distributed between the first rotating block member/the second rotating block member and the joint connecting block, and a first parallelogram mechanism is formed by the first rotating block member/the second rotating block member, the large arm rod pieces and the joint connecting block; the number of the small arm rod pieces is three, the three small arm rod pieces are uniformly distributed between the joint connecting block and the joint disc, and the joint connecting block, the small arm rod pieces and the joint disc form a second parallelogram mechanism.
The first rotating block member and the second rotating block member have the same structure, and two driving motors are arranged in the first rotating block member and the second rotating block member respectively and comprise a first driving motor and a second driving motor; the first rotating block component/the second rotating block component are in transmission connection with the fixed platform through a first driving motor, and the first driving motor provides rotating power for the first rotating block component/the second rotating block component; the first rotating block component/the second rotating block component are in transmission connection with the large arm rod piece through a second driving motor, and the second driving motor provides swing power for the large arm rod piece.
The invention has the beneficial effects that:
the three-dimensional space translational series-parallel hybrid manipulator adopts a brand new configuration, and can take the advantages of both the Scar manipulator and the Delta manipulator into consideration, namely, the manipulator has strong bearing capacity and larger working space, and simultaneously, the overall quality of the manipulator is effectively reduced.
Drawings
FIG. 1 is a schematic structural diagram of a three-dimensional translational serial-parallel hybrid manipulator according to the present invention;
in the figure, 1-fixed platform, 2-first rotating block component, 3-second rotating block component, 4-moving platform, 5-big arm rod component, 6-joint connecting block, 7-joint disc, 8-small arm rod component, 9-switching lug.
Detailed Description
The invention is described in further detail below with reference to the figures and the specific embodiments.
As shown in fig. 1, a three-dimensional translational serial-parallel hybrid manipulator includes a fixed platform 1, a first serial rod system, a second serial rod system, a first rotating block member 2, a second rotating block member 3 and a moving platform 4; the first rotating block component 2 and the second rotating block component 3 are arranged on the fixed platform 1 in parallel, one end of a first series rod system is connected to the first rotating block component 2, and the other end of the first series rod system is connected to the moving platform 4; one end of the second serial rod system is connected to the second rotating block component 3, and the other end of the second serial rod system is connected to the moving platform 4; the first serial rod system and the second serial rod system form a double parallel arm structure between the fixed platform 1 and the moving platform 4; the motion platform 4 serves as an end member of the robot arm for fixing the actuator elements.
The first serial rod system and the second serial rod system have the same structure and respectively comprise a large arm rod piece 5, a joint connecting block 6, a joint disc 7 and a small arm rod piece 8; one end of the large arm rod piece 5 is hinged on the first rotating block component 2, and the other end of the large arm rod piece 5 is hinged on the joint connecting block 6; the center of the joint disc 7 is connected to the lower surface of the motion platform 4 through a central rotating shaft, and the joint disc 7 has rotational freedom degree relative to the central rotating shaft; the lower surface of the joint disc 7 is fixedly provided with a switching lug 9, one end of the small arm rod piece 8 is hinged on the joint connecting block 6, and the other end of the small arm rod piece 8 is hinged on the switching lug 9.
The number of the large arm rod pieces 5 is four, the four large arm rod pieces 5 are uniformly distributed between the first rotating block member 2/the second rotating block member 3 and the joint connecting block 6, and the first rotating block member 2/the second rotating block member 3, the large arm rod pieces 5 and the joint connecting block 6 form a first parallelogram mechanism; the number of the small arm rod pieces 8 is three, the three small arm rod pieces 8 are uniformly distributed between the joint connecting block 6 and the joint disc 7, and the joint connecting block 6, the small arm rod pieces 8 and the joint disc 7 form a second parallelogram mechanism.
The first rotating block member 2 and the second rotating block member 3 have the same structure, and two driving motors are arranged in the first rotating block member 2 and the second rotating block member 3 respectively and comprise a first driving motor and a second driving motor; the first rotating block component 2/the second rotating block component 3 are in transmission connection with the fixed platform 1 through a first driving motor, and the first driving motor provides rotating power for the first rotating block component 2/the second rotating block component 3; the first rotating block component 2/the second rotating block component 3 are in transmission connection with the large arm rod piece 5 through a second driving motor, and the second driving motor provides swing power for the large arm rod piece 5.
The operation of the present invention is described below with reference to the accompanying drawings:
when the first driving motors in the first rotating block member 2 and the second rotating block member 3 synchronously and reversely move, the first rotating block member 2 and the second rotating block member 3 are driven to rotate together, so that the first rotating block member 2 and the second rotating block member 3 horizontally rotate for an angle relative to the fixed platform 1, two joint discs 7 in the first serial rod system and the second serial rod system rotate around a central rotating shaft relatively, and finally the moving platform 4 is driven to realize the adjustment of the horizontal position through the linkage of a large arm rod piece 5 and a small arm rod piece 8 in the first serial rod system and the second serial rod system.
When the second driving motors in the first rotating block component 2 and the second rotating block component 3 synchronously and reversely move, the large arm rod piece 5 in the first series rod system and the second series rod system can be driven to swing by a certain angle, the joint connecting block 6 is driven to move in a vertical plane through the swinging of the large arm rod piece 5, and then the small arm rod piece 8 in the first series rod system and the second series rod system is driven to be linked, and finally the moving platform 4 is driven to realize the adjustment of the vertical position.
When the first driving motor and the second driving motor in the first rotating block member 2 and the second rotating block member 3 are started simultaneously, the motion tracks of the motion platform 4 can be overlapped in the horizontal direction and the vertical direction, and finally the motion platform 4 can move in a three-dimensional space.
The embodiments are not intended to limit the scope of the present invention, and all equivalent implementations or modifications without departing from the scope of the present invention are intended to be included in the scope of the present invention.
Claims (4)
1. The utility model provides a three-dimensional space translation formula cluster and series-parallel connection manipulator which characterized in that: comprises a fixed platform, a first series rod system, a second series rod system, a first rotating block component, a second rotating block component and a moving platform; the first rotating block component and the second rotating block component are arranged on the fixed platform in parallel, one end of the first serial rod system is connected to the first rotating block component, and the other end of the first serial rod system is connected to the moving platform; one end of the second serial rod system is connected to the second rotating block component, and the other end of the second serial rod system is connected to the moving platform; the first serial rod system and the second serial rod system form a double parallel arm structure between the fixed platform and the moving platform; the motion platform serves as an end member of the manipulator for securing the actuator element.
2. The three-dimensional space translational series-parallel mechanical arm according to claim 1, characterized in that: the first serial rod system and the second serial rod system have the same structure and respectively comprise a large arm rod piece, a joint connecting block, a joint disc and a small arm rod piece; one end of the large arm rod piece is hinged to the first rotating block component, and the other end of the large arm rod piece is hinged to the joint connecting block; the center of the joint disc is connected to the lower surface of the motion platform through a central rotating shaft, and the joint disc has rotational freedom degree relative to the central rotating shaft; the lower surface of the joint disc is fixedly provided with a switching lug, one end of the small arm rod piece is hinged on the joint connecting block, and the other end of the small arm rod piece is hinged on the switching lug.
3. The three-dimensional space translational series-parallel mechanical arm according to claim 2, characterized in that: the number of the large arm rod pieces is four, the four large arm rod pieces are uniformly distributed between the first rotating block member/the second rotating block member and the joint connecting block, and a first parallelogram mechanism is formed by the first rotating block member/the second rotating block member, the large arm rod pieces and the joint connecting block; the number of the small arm rod pieces is three, the three small arm rod pieces are uniformly distributed between the joint connecting block and the joint disc, and the joint connecting block, the small arm rod pieces and the joint disc form a second parallelogram mechanism.
4. The three-dimensional space translational series-parallel mechanical arm according to claim 1, characterized in that: the first rotating block member and the second rotating block member have the same structure, and two driving motors are arranged in the first rotating block member and the second rotating block member respectively and comprise a first driving motor and a second driving motor; the first rotating block component/the second rotating block component are in transmission connection with the fixed platform through a first driving motor, and the first driving motor provides rotating power for the first rotating block component/the second rotating block component; the first rotating block component/the second rotating block component are in transmission connection with the large arm rod piece through a second driving motor, and the second driving motor provides swing power for the large arm rod piece.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201910938432.XA CN110695965A (en) | 2019-09-30 | 2019-09-30 | Three-dimensional space translational series-parallel hybrid manipulator |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910938432.XA CN110695965A (en) | 2019-09-30 | 2019-09-30 | Three-dimensional space translational series-parallel hybrid manipulator |
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| CN110695965A true CN110695965A (en) | 2020-01-17 |
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| CN201910938432.XA Pending CN110695965A (en) | 2019-09-30 | 2019-09-30 | Three-dimensional space translational series-parallel hybrid manipulator |
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Citations (8)
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|---|---|---|---|---|
| DE19930287A1 (en) * | 1999-07-03 | 2001-01-04 | Klaus Dagefoerde | Joint arm machining center, with fast-moving work platform and slow moving joint arm device |
| CN1299727A (en) * | 2000-03-29 | 2001-06-20 | 东北大学 | Darallel machine tool with three translation freedoms |
| CN1723101A (en) * | 2002-11-06 | 2006-01-18 | 麦吉尔大学 | Four-degree-of-freedom parallel manipulator for producing schonflies motions |
| CN101508109A (en) * | 2009-03-27 | 2009-08-19 | 东北大学 | Double parallel-connection superposition multifunctional robot |
| CN103419192A (en) * | 2013-08-23 | 2013-12-04 | 江苏建筑职业技术学院 | Four-degree-of-freedom hybrid robot |
| CN106002936A (en) * | 2016-06-08 | 2016-10-12 | 常州大学 | Three-translation and one-rotation parallel robot platform manipulator |
| CN107835728A (en) * | 2015-07-14 | 2018-03-23 | 杜尔系统股份公司 | Coating equipment robot, particularly operate machine people |
| CN109760017A (en) * | 2018-12-24 | 2019-05-17 | 燕山大学 | There are two the serial-parallel mirror six degree of freedom industrial machinery arms of revolution waist for band |
-
2019
- 2019-09-30 CN CN201910938432.XA patent/CN110695965A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19930287A1 (en) * | 1999-07-03 | 2001-01-04 | Klaus Dagefoerde | Joint arm machining center, with fast-moving work platform and slow moving joint arm device |
| CN1299727A (en) * | 2000-03-29 | 2001-06-20 | 东北大学 | Darallel machine tool with three translation freedoms |
| CN1723101A (en) * | 2002-11-06 | 2006-01-18 | 麦吉尔大学 | Four-degree-of-freedom parallel manipulator for producing schonflies motions |
| CN101508109A (en) * | 2009-03-27 | 2009-08-19 | 东北大学 | Double parallel-connection superposition multifunctional robot |
| CN103419192A (en) * | 2013-08-23 | 2013-12-04 | 江苏建筑职业技术学院 | Four-degree-of-freedom hybrid robot |
| CN107835728A (en) * | 2015-07-14 | 2018-03-23 | 杜尔系统股份公司 | Coating equipment robot, particularly operate machine people |
| CN106002936A (en) * | 2016-06-08 | 2016-10-12 | 常州大学 | Three-translation and one-rotation parallel robot platform manipulator |
| CN109760017A (en) * | 2018-12-24 | 2019-05-17 | 燕山大学 | There are two the serial-parallel mirror six degree of freedom industrial machinery arms of revolution waist for band |
Non-Patent Citations (3)
| Title |
|---|
| ALESSANDRO CAMMARATA等: "Kinetostatic and Inertial Conditioning of the McGill Schönflies-motion Generator", 《ADVANCES IN MECHANICAL ENGINEERING》 * |
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Application publication date: 20200117 |
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